A vehicle control method, apparatus, device, and storage medium

Abstract

The present disclosure relates to a vehicle control method, device, equipment and storage medium, the present disclosure determines the position of the user's head by receiving an audio signal and determining the first sound emitting position of the audio signal; according to the first sensor signal corresponding to the first sound emitting position, the second sensor signal corresponding to the first sound emitting position, and the third sensor signal corresponding to the seat position around the first sound emitting position, multiple judgments are made to perform spatial multi-modal sound emitting person positioning, thereby improving the accuracy of the user's sitting position; according to the judgment result, the second sound emitting position of the audio signal is determined, and the user instruction contained in the audio signal is executed, the user instruction being used to control the vehicle function related to the second sound emitting position, thereby accurately positioning the sound emitting area where the user is located, executing the user instruction of the sound emitting area, making the vehicle use more flexible, and improving the user comfort and experience.

Description

Technical Field

[0001] This disclosure relates to the field of automotive automatic control technology, and in particular to a vehicle control method, device, equipment and storage medium. Background Technology

[0002] In recent years, with the development of automotive technology, cars have become increasingly intelligent, and their functions have become more and more diversified.

[0003] Currently, users use microphones inside the car to locate the sound by measuring amplitude and angle, thereby determining the area where the user is speaking and controlling the vehicle.

[0004] However, it is currently impossible to accurately locate the user's pronunciation region. Summary of the Invention

[0005] To address the aforementioned technical problems, this disclosure provides a vehicle control method, apparatus, device, and storage medium to accurately locate the user's vocal range, thereby improving user comfort and experience.

[0006] In a first aspect, embodiments of this disclosure provide a vehicle control method, including:

[0007] Receive an audio signal and determine the first sounding location of the audio signal; if, based on the first sensor signal corresponding to the first sounding location, it is determined that there is no one at the first sounding location, then based on the second sensor signal, it is determined whether there is someone at the first sounding location;

[0008] If it is determined that no one is at the first sounding location based on the visual sensor signal and / or the ranging sensor signal, then the judgment result of whether there is someone at the other seat locations around the first sounding location is determined based on the third sensor signal corresponding to the other seat locations around the first sounding location.

[0009] Based on the judgment result, the second pronunciation position of the audio signal is determined, and the user instruction contained in the audio signal is executed. The user instruction is used to control vehicle functions related to the second pronunciation position.

[0010] In some embodiments, the method further includes:

[0011] If, based on the first sensor signal corresponding to the first sounding location, it is determined that there is someone at the first sounding location, then the user instruction contained in the audio signal is executed, and the user instruction is used to control the vehicle.

[0012] In some embodiments, the method further includes:

[0013] If it is determined, based on the visual sensor signal and / or the ranging sensor signal, that there is a person at the first sounding location, then the user instruction contained in the audio signal is executed, the user instruction being used to control the vehicle.

[0014] In some embodiments, determining the second pronunciation position of the audio signal based on the determination result includes:

[0015] If the first sounding position and the other seat positions are in the same row, and the determination result indicates that there is someone in the other seat positions, then the second sounding position of the audio signal is determined to be the other seat positions;

[0016] If the other seat position is located in front of the first sound position, and the determination result indicates that there is someone in the other seat position, then the second sound position of the audio signal is determined to be the other seat position.

[0017] In some embodiments, determining the second pronunciation position of the audio signal based on the determination result includes:

[0018] If the determination result indicates that there is someone in the other seat position, then the seat position closest to the first sound position among the other seat positions is determined as the second sound position of the audio signal.

[0019] In some embodiments, determining the second pronunciation position of the audio signal based on the determination result includes:

[0020] If the other seat positions include the position in front of the first sound position and the position in the same row as the first sound position, and the judgment result indicates that there is someone in the other seat positions, then based on the third sensor signal corresponding to the position in front of the first sound position, it is determined whether the seat angle of the position in front of the first sound position is greater than a preset angle.

[0021] If the seat angle at the position in front of the first sounding position is greater than the preset angle, then the second sounding position of the audio signal is determined to be the position in front of the first sounding position;

[0022] If the seat angle in front of the first sounding position is less than the preset angle, then the second sounding position of the audio signal is determined to be a position in the same row as the first sounding position.

[0023] In some embodiments, the seat angle is the angle between the seat back and the horizontal plane. In some embodiments, determining the second sounding position of the audio signal based on the determination result includes:

[0024] If the other seat positions include the position in front of the first sound position and the position behind the first sound position, or the other seat positions include the position in front of the first sound position, the position behind the first sound position, and the position in the same row as the first sound position, and the judgment result indicates that there is someone in the other seat positions, then based on the third sensor signal corresponding to the position in front of the first sound position, it is determined whether the seat angle of the position in front of the first sound position is greater than a preset angle.

[0025] If the seat angle at the position in front of the first sounding position is greater than the preset angle, then the second sounding position of the audio signal is determined to be the position in front of the first sounding position;

[0026] If the seat angle in front of the first sounding position is less than the preset angle, then the second sounding position of the audio signal is determined to be the first sounding position.

[0027] Secondly, embodiments of this disclosure provide a vehicle control device, comprising:

[0028] The first determining module is used to receive an audio signal and determine the first sounding position of the audio signal; if it is determined that there is no one at the first sounding position based on the first sensor signal corresponding to the first sounding position, then it is determined whether there is someone at the first sounding position based on the second sensor signal.

[0029] The second determining module, if it determines that no one is at the first sounding position based on the visual sensor signal and / or the ranging sensor signal, then determines whether there is anyone at the other seat positions based on the third sensor signals corresponding to the other seat positions around the first sounding position;

[0030] An execution module is configured to determine the second pronunciation position of the audio signal based on the judgment result, and execute the user instruction contained in the audio signal, wherein the user instruction is used to control vehicle functions related to the second pronunciation position.

[0031] Thirdly, embodiments of this disclosure provide an electronic device, including:

[0032] Memory;

[0033] Processor; and

[0034] Computer programs;

[0035] The computer program is stored in the memory and configured to be executed by the processor to implement the method as described in the first aspect.

[0036] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method described in the first aspect.

[0037] Fifthly, embodiments of this disclosure also provide a computer program product comprising a computer program or instructions which are executed by a processor to implement the method described in the first aspect.

[0038] This disclosure provides a vehicle control method, apparatus, device, and storage medium. By receiving an audio signal and determining its first pronunciation position, the method determines the user's head position. It then performs spatial multimodal speaker localization based on multiple judgments using a first sensor signal, a second sensor signal, and third sensor signals corresponding to other seat positions around the first pronunciation position, improving the accuracy of the user's seating position. Based on the judgment results, it determines the second pronunciation position of the audio signal and executes user instructions contained in the audio signal. These user instructions control vehicle functions related to the second pronunciation position, thereby accurately locating the user's pronunciation area and executing user instructions within that area. This makes vehicle use more flexible and improves user comfort and experience. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0040] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart of a vehicle control method provided in this disclosure embodiment;

[0042] Figure 2 A block diagram of the vehicle control and positioning scheme provided in the embodiments of this disclosure;

[0043] Figure 3 A schematic diagram illustrating the determination of a second sounding position of an audio signal according to an embodiment of this disclosure;

[0044] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present disclosure;

[0045] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0046] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0047] Numerous specific details are set forth in the following description to provide a thorough understanding of this disclosure; however, this disclosure may also be implemented in other ways different from those described herein. Clearly, the embodiments described in the specification are only a part of, and not all, of the embodiments of this disclosure. The specific embodiments described herein are merely illustrative of the invention and not intended to limit it. All other embodiments obtained by those skilled in the art based on the described embodiments of the invention are within the scope of protection of this invention.

[0048] This disclosure provides a vehicle control method, which will be described below with reference to specific embodiments.

[0049] Figure 1 This is a flowchart illustrating a vehicle control method provided in an embodiment of the present disclosure. This method can be applied to scenarios involving vehicle control, such as opening windows corresponding to seats, seat heating, seat ventilation, turning on ambient lighting corresponding to seats, turning on reading lights corresponding to seats, controlling seat massage, controlling seat adjustment, and controlling screens corresponding to seats. The specific steps included in this method are as follows:

[0050] S101. Receive an audio signal and determine the first sounding position of the audio signal; if it is determined that there is no one at the first sounding position based on the first sensor signal corresponding to the first sounding position, then determine whether there is someone at the first sounding position based on the second sensor signal.

[0051] The first sensor signal and the second sensor signal are different types of sensor signals. The second sensor signal can be a vision sensor signal, a ranging sensor signal, or other types of sensor signals.

[0052] A vision sensor is an instrument that uses optical elements and imaging devices to acquire image information of the external environment. Its performance is typically described by image resolution. The accuracy of a vision sensor is not only related to resolution but also to the detection distance of the object being measured; the farther the object is, the worse its absolute positional accuracy. The vision sensor is the direct source of information for the entire machine vision system. It mainly consists of one or two image sensors, sometimes accompanied by light projectors and other auxiliary equipment. Its primary function is to acquire sufficient raw images for the machine vision system to process. Image sensors can be laser scanners, linear and area CCD cameras, TV cameras, digital cameras, etc.

[0053] Ranging sensors include ultrasonic ranging sensors, laser ranging sensors, infrared ranging sensors, and radar sensors. Ultrasonic ranging sensors utilize the strong penetrating power of ultrasound in liquids and solids, especially in opaque solids where sunlight can penetrate to depths of tens of meters. Ultrasonic waves encounter impurities or interfaces, causing significant reflections and creating echoes. They also exhibit the Doppler effect when encountering moving objects. Laser ranging sensors work by first emitting a laser pulse from a laser diode towards the target. After reflection, the laser light scatters in various directions, with some returning to the sensor receiver. This scattered light is then imaged onto an avalanche photodiode, an optical sensor with internal amplification capabilities. This allows it to detect extremely weak light signals and record and process the time elapsed from the emission of the light pulse to its return, thus determining the target distance. Laser sensors must measure the transmission time with extreme precision because light... Too fast; Infrared ranging sensor: Infrared ranging sensors utilize the principle that the intensity of infrared signal reflection varies depending on the distance to an obstacle to detect the distance of the obstacle. An infrared ranging sensor has a pair of infrared signal emitting and receiving diodes. The emitting diode emits infrared signals of a specific frequency, and the receiving diode receives these signals. When the infrared signal encounters an obstacle, it is reflected back and received by the receiving diode. After processing, the signal is returned to the robot's host via a digital sensor interface. The robot can then use the returned infrared signal to identify changes in the surrounding environment, primarily temperature changes; Radar sensor: This sensor senses the presence, speed, stationary distance, and angle of an object by emitting and receiving microwaves. It employs planar microstrip antenna technology and features small size, high integration, and high sensitivity.

[0054] Each seat in the vehicle is equipped with a corresponding microphone to detect sound within the vehicle. The relative distance between each seat and its corresponding microphone is fixed. When a microphone receives its corresponding audio signal, it sends the signal to the vehicle's infotainment system. The system compares the audio signals received from each microphone to determine which microphone has the strongest signal amplitude. Simultaneously, the system uses the audio signals received from each microphone to pinpoint the direction of the sound. Based on the amplitude and direction of the audio signals, the system ultimately determines the sound's origin, i.e., the first sounding location of the audio signal.

[0055] Each seat in the vehicle is equipped with a corresponding first sensor, which can be a pressure sensor. Based on the pressure sensor signal corresponding to the first sound-emitting position, if the pressure sensor signal is negative, the vehicle's infotainment system determines that the first sound-emitting position is unoccupied.

[0056] Optionally, the presence of someone at the first sound location can be determined via seatbelt reminders.

[0057] In addition, this embodiment provides the correspondence between the first sound position, whether the first sensor signal corresponding to the first sound position is occupied, and the positioning process, as shown in Table 1:

[0058] Table 1

[0059]

[0060] Optionally, as shown in Table 1, if it is determined that there is someone at the first sounding position based on the first sensor signal corresponding to the first sounding position, then the user instruction contained in the audio signal is executed, and the user instruction is used to control the vehicle.

[0061] A visual sensor and / or a distance sensor are positioned directly in front of each row of seats in the vehicle. These sensors can acquire the second sensor signal corresponding to that row of seats. The vehicle's infotainment system uses this second sensor signal to determine whether there is someone at the first sound-emitting location. If the second sensor signal indicates that no one is at the first sound-emitting location, step S302 is executed. Furthermore, this embodiment provides the correspondence between the first sound-emitting location, whether the first sensor signal at the first sound-emitting location indicates someone is present, whether the second sensor signal at the first sound-emitting location indicates someone is present, and the positioning processing, as shown in Table 2.

[0062] Table 2

[0063]

[0064] Optionally, as shown in Table 2, if it is determined from the second sensor signal that there is someone at the first sounding location, then the user instruction contained in the audio signal is executed, and the user instruction is used to control the vehicle.

[0065] S102. If it is determined that no one is at the first sounding position based on the visual sensor signal and / or the ranging sensor signal, then the judgment result of whether there is anyone at the other seat positions is determined based on the third sensor signal corresponding to the other seat positions around the first sounding position.

[0066] If it is determined that no one is at the first sounding location based on the visual sensor signal and / or the ranging sensor signal, then the judgment result of whether there is someone at the other seat locations around the first sounding location is determined based on the third sensor signal corresponding to the other seat locations around the first sounding location. The third sensor signal may also be a pressure sensor.

[0067] For example, if the first sound source is not the driver's seat, and the second sensor signal determines that the driver's seat is unoccupied, then the third sensor signal corresponding to the other seats around the driver's seat, namely the third sensor signal corresponding to the position behind the passenger seat and the position behind the driver's seat (i.e., the left position in the second row), can be used to determine whether there is anyone in the passenger seat and the left position in the second row.

[0068] S103. Based on the judgment result, determine the second pronunciation position of the audio signal, and execute the user instruction contained in the audio signal, the user instruction being used to control vehicle functions related to the second pronunciation position.

[0069] Based on the determination of whether other seats are occupied, a second sounding position of the audio signal is determined. This second sounding position may be the first sounding position or other seat positions around the first sounding position. The user command contained in the audio signal is executed, which is used to control vehicle functions related to the second sounding position.

[0070] Optionally, user commands can include opening windows, heating seats, ventilating seats, turning on ambient lighting, turning on reading lights, and massaging seats.

[0071] This embodiment of the disclosure determines the user's head position by receiving an audio signal and determining the first pronunciation position of the audio signal. Based on a first sensor signal, a second sensor signal, and third sensor signals corresponding to other seat positions around the first pronunciation position, multiple judgments are made to perform spatial multimodal speaker localization, improving the accuracy of the user's seating position. Based on the judgment results, a second pronunciation position of the audio signal is determined, and user instructions contained in the audio signal are executed. These user instructions are used to control vehicle functions related to the second pronunciation position. Specifically, it describes the execution of user instructions contained in the audio signal when the first sensor signal determines that someone is at the first pronunciation position, when the first sensor signal determines that no one is at the first pronunciation position, and when the second sensor signal determines that someone is at the first pronunciation position; and when the first sensor signal and the second sensor signal determine that no one is at the first pronunciation position, the presence or absence of other seat positions is determined based on third sensor signals corresponding to other seat positions around the first pronunciation position, thereby accurately executing user instructions for the user's seating position and user instructions for the pronunciation area, making vehicle use more flexible and improving user comfort and experience.

[0072] In some embodiments, determining the second sounding position of the audio signal based on the determination result includes: if the first sounding position and the other seat positions are in the same row, and the determination result indicates that there is someone in the other seat positions, then the second sounding position of the audio signal is determined to be the other seat positions; if the other seat positions are in front of the first sounding position, and the determination result indicates that there is someone in the other seat positions, then the second sounding position of the audio signal is determined to be the other seat positions.

[0073] In addition, this embodiment provides the correspondence between the first sound location, whether the first sensor signal corresponding to the first sound location indicates the presence of a person, whether the second sensor signal corresponding to the first sound location indicates the presence of a person, and the positioning processing, as shown in Table 3:

[0074] Table 3

[0075]

[0076] As shown in Table 3, if the first sounding position and the other seat positions are in the same row, and the judgment result indicates that there is someone in the other seat position, then the second sounding position of the audio signal is determined to be the other seat position.

[0077] For example, the first sound-emitting position and the other seat positions are located in the same row; for instance, the first sound-emitting position is the driver's seat, and the other seat positions are the front passenger seats; the first sound-emitting position is the front passenger seat, and the other seat positions are the driver's seat; the first sound-emitting position is behind the driver's seat (second row, left side), and the other seat positions are behind the front passenger seat (second row, right side); the first sound-emitting position is behind the front passenger seat (second row, right side), and the other seat positions are behind the driver's seat (second row, left side). It is understandable that the same principle applies to vehicles with three rows of seats, which will not be elaborated upon here.

[0078] In addition, this embodiment provides the correspondence between the first sound position, whether the first sensor signal corresponding to the first sound position indicates a person, whether the second sensor signal corresponding to the first sound position indicates a person, other seat signals, and positioning processing, as shown in Table 4:

[0079] Table 4

[0080]

[0081] As shown in Table 4, if the other seat position is located in front of the first sound position, and the judgment result indicates that there is someone in the other seat position, then the second sound position of the audio signal is determined to be the other seat position.

[0082] Optionally, other seating positions can be located in front of the first sound-emitting position. For example, if the first sound-emitting position is on the left side of the second row, the other seating positions are the driver's seat; or if the first sound-emitting position is on the right side of the second row, the other seating positions are the front passenger seats. It is understandable that the same principle applies to vehicles with three rows of seats, which will not be elaborated upon here.

[0083] In some embodiments, determining the second sounding position of the audio signal based on the determination result includes: if the determination result indicates that there is someone in the other seat position, then determining the seat position among the other seat positions that is closest to the first sounding position as the second sounding position of the audio signal.

[0084] like Figure 3 As shown, when the first sound position is 33, that is, the first sensor signal corresponding to the first sound position 33 is unoccupied, and the second sensor signal corresponding to the first sound position 33 is unoccupied, if the judgment result indicates that there are people in other seat positions 31, other seat positions 32, and other seat positions 34, then the distance between other seat positions 31, other seat positions 32, and other seat positions 34 and the first sound position 33 is determined, and the other seat position closest to the first sound position 33 is determined as the second sound position of the audio signal.

[0085] In some embodiments, determining the second pronunciation position of the audio signal based on the determination result includes:

[0086] If the other seat positions include the position in front of the first sounding position and the position in the same row as the first sounding position, and the determination result indicates that there is someone in the other seat positions, then based on the third sensor signal corresponding to the position in front of the first sounding position, it is determined whether the seat angle of the position in front of the first sounding position is greater than a preset angle; if the seat angle of the position in front of the first sounding position is greater than the preset angle, then it is determined that the second sounding position of the audio signal is the position in front of the first sounding position; if the seat angle of the position in front of the first sounding position is less than the preset angle, then it is determined that the second sounding position of the audio signal is the position in the same row as the first sounding position.

[0087] Optionally, the seat angle is the angle between the seat back and the horizontal plane, and the angle can range from 0 degrees to 180 degrees.

[0088] In addition, this embodiment provides the correspondence between the first sound position, whether the first sensor signal corresponding to the first sound position indicates a person, whether the second sensor signal corresponding to the first sound position indicates a person, other seat signals, and positioning processing, as shown in Table 5:

[0089] Table 5

[0090]

[0091] As shown in Table 5, if the other seat positions include the position in front of the first sound position and the position in the same row as the first sound position, and the judgment result indicates that there is someone in the other seat positions, then based on the third sensor signal corresponding to the position in front of the first sound position, which can be a seat back angle sensor or other sensor that can determine the seat angle, it is determined whether the seat angle of the position in front of the first sound position is greater than a preset angle.

[0092] If the seat angle of the position in front of the first sounding position is greater than the preset angle, then the second sounding position of the audio signal is determined to be the position in front of the first sounding position; if the seat angle of the position in front of the first sounding position is less than the preset angle, then the second sounding position of the audio signal is determined to be the position in the same row as the first sounding position.

[0093] For example, if the first sounding position is the left seat in the second row, and the other seat positions are the driver's seat and the right seat in the second row, and the judgment result indicates that there is someone in the other seat positions, then an auxiliary judgment is made based on the third sensor signal corresponding to the driver's seat to determine whether the angle of the driver's seat is greater than a preset angle. If the angle of the driver's seat is greater than the preset angle, then the position is adjusted to the driver's seat; if the angle of the driver's seat is less than the preset angle, then the position is adjusted to the right seat in the second row. It is understood that the same principle applies to other positions if the first sounding position is also present, and will not be elaborated further here.

[0094] In some embodiments, determining the second pronunciation position of the audio signal based on the determination result includes:

[0095] If the other seat positions include the position in front of the first sound position and the position behind the first sound position, or the other seat positions include the position in front of the first sound position, the position behind the first sound position, and the position in the same row as the first sound position, and the judgment result indicates that there is someone in the other seat positions, then based on the third sensor signal corresponding to the position in front of the first sound position, it is determined whether the seat angle of the position in front of the first sound position is greater than a preset angle.

[0096] If the seat angle at the position in front of the first sounding position is greater than the preset angle, then the second sounding position of the audio signal is determined to be the position in front of the first sounding position; if the seat angle at the position in front of the first sounding position is less than the preset angle, then the second sounding position of the audio signal is determined to be the first sounding position.

[0097] In addition, this embodiment provides the correspondence between the first sound position, whether the first sensor signal corresponding to the first sound position indicates a person, whether the second sensor signal corresponding to the first sound position indicates a person, other seat signals, and positioning processing, as shown in Table 6:

[0098] Table 6

[0099]

[0100] As shown in Table 6, if the other seat positions include the position in front of the first sound position and the position behind the first sound position, or the other seat positions include the position in front of the first sound position, the position behind the first sound position, and the position in the same row as the first sound position, and the judgment result indicates that there is someone in the other seat positions, then based on the third sensor signal corresponding to the position in front of the first sound position, which can be a seat back angle sensor or other sensor that can determine the seat angle, it is determined whether the seat angle of the position in front of the first sound position is greater than a preset angle;

[0101] If the seat angle at the position in front of the first sounding position is greater than the preset angle, then the second sounding position of the audio signal is determined to be the position in front of the first sounding position; if the seat angle at the position in front of the first sounding position is less than the preset angle, then the second sounding position of the audio signal is determined to be the first sounding position.

[0102] For example, if the first audible position is the left seat in the second row, and other seats are occupied in the driver's seat and the left seat in the third row, or other seats are occupied in the driver's seat, the right seat in the second row, and the left seat in the third row, and the judgment result indicates that there are occupants in the other seat positions, then an auxiliary judgment is made based on the third sensor signal corresponding to the driver's seat to determine whether the angle of the driver's seat is greater than a preset angle. If the angle of the driver's seat is greater than the preset angle, then the driver's seat is adjusted to be the driver's seat; if the angle of the driver's seat is less than the preset angle, then the first audible position is accepted. It is understood that the same principle applies to other positions where the first audible position is, and will not be elaborated further here.

[0103] In addition, this embodiment provides the correspondence between the first sound position, whether there is a person at the first sound position, other seat signals, and positioning processing, as shown in Table 7:

[0104] Table 7

[0105]

[0106] As shown in Table 7, if the first sound position is determined to be unoccupied by the signals of the first sensor and the second sensor, and if other seat positions are located behind the first sound position, or other seat positions are located behind the first sound position and in the same row as the first sound position, and the determination result indicates that there is someone in the other seat positions, then the first sound position is trusted, and the user command contained in the audio signal is executed. The user command is used to control the vehicle functions related to the first sound position.

[0107] If the first sounding position is determined to be unoccupied by the signals from the first sensor and the second sensor, and if other seat positions are the locations where the bell rings at the first sounding position, and none of the other seat positions are occupied, then the first sounding position is trusted, and the user command contained in the audio signal is executed. The user command is used to control vehicle functions related to the first sounding position.

[0108] Figure 2 A block diagram of the vehicle control and positioning scheme provided in the embodiments of this disclosure, as shown below. Figure 2 As shown, the positioning scheme includes primary positioning and auxiliary positioning. Primary positioning is based on the user's vocalization to determine the vocal range. Auxiliary positioning is based on the presence of a person in the seat and their sitting posture, using signals from a second sensor, a pressure sensor, and an angle sensor to determine the user's spatial positioning model and thus the positioning result. This determines the user's head position and sitting position, thereby accurately locating the user's vocal range.

[0109] Figure 4 This is a schematic diagram of a vehicle control device according to another embodiment of the present disclosure. The vehicle control device may be an electronic device as described in the above embodiments, or it may be a component or assembly within that electronic device. The vehicle control device provided in this disclosure can execute the processing flow provided in an embodiment of a vehicle control method, such as... Figure 4 As shown, a vehicle control device 40 includes: a first determining module 41, a second determining module 42, and an execution module 43. The first determining module 41 is configured to receive an audio signal and determine a first sounding position of the audio signal; if a first sensor signal corresponding to the first sounding position indicates that no one is at the first sounding position, then a second sensor signal indicates whether someone is at the first sounding position. The second determining module 42 is configured to, if a visual sensor signal and / or a ranging sensor signal indicates that no one is at the first sounding position, then a third sensor signal corresponding to other seat positions around the first sounding position indicates whether someone is at other seat positions. The execution module 43 is configured to, based on the determination result, determine a second sounding position of the audio signal and execute a user instruction contained in the audio signal, the user instruction being used to control vehicle functions related to the second sounding position.

[0110] Optionally, the first determining module 41 is further configured to execute a user instruction contained in the audio signal if it is determined, based on the first sensor signal corresponding to the first sounding position, that there is someone at the first sounding position, and the user instruction is used to control the vehicle.

[0111] Optionally, the second determining module 42 is further configured to execute a user instruction contained in the audio signal if it is determined, based on the visual sensor signal and / or the ranging sensor signal, that someone is at the first sounding location. The user instruction is used to control the vehicle. Optionally, the execution module 43 is further configured to determine, based on the determination result, a second sounding location of the audio signal, including:

[0112] If the first sounding position and the other seat positions are in the same row, and the determination result indicates that there is someone in the other seat positions, then the second sounding position of the audio signal is determined to be the other seat positions;

[0113] If the other seat position is located in front of the first sound position, and the determination result indicates that there is someone in the other seat position, then the second sound position of the audio signal is determined to be the other seat position.

[0114] Optionally, the execution module 43 is further configured to determine the second pronunciation position of the audio signal based on the judgment result, including:

[0115] If the determination result indicates that there is someone in the other seat positions, then the seat position closest to the first sounding position among the other seat positions is determined as the second sounding position of the audio signal. Optionally, the execution module 43 is further configured to determine the second sounding position of the audio signal based on the determination result, including:

[0116] If the other seat positions include the position in front of the first sound position and the position in the same row as the first sound position, and the judgment result indicates that there is someone in the other seat positions, then based on the third sensor signal corresponding to the position in front of the first sound position, it is determined whether the seat angle of the position in front of the first sound position is greater than a preset angle.

[0117] If the seat angle at the position in front of the first sounding position is greater than the preset angle, then the second sounding position of the audio signal is determined to be the position in front of the first sounding position;

[0118] If the seat angle in front of the first sounding position is less than the preset angle, then the second sounding position of the audio signal is determined to be a position in the same row as the first sounding position.

[0119] Optionally, the seat angle is the angle between the seat back and the horizontal plane.

[0120] Optionally, the execution module 43 is further configured to determine the second pronunciation position of the audio signal based on the judgment result, including:

[0121] If the other seat positions include the position in front of the first sound position and the position behind the first sound position, or the other seat positions include the position in front of the first sound position, the position behind the first sound position, and the position in the same row as the first sound position, and the judgment result indicates that there is someone in the other seat positions, then based on the third sensor signal corresponding to the position in front of the first sound position, it is determined whether the seat angle of the position in front of the first sound position is greater than a preset angle.

[0122] If the seat angle at the position in front of the first sounding position is greater than the preset angle, then the second sounding position of the audio signal is determined to be the position in front of the first sounding position;

[0123] If the seat angle in front of the first sounding position is less than the preset angle, then the second sounding position of the audio signal is determined to be the first sounding position.

[0124] Figure 4 The vehicle control device shown in another embodiment can be used to execute the technical solution of another embodiment of the above method. Its implementation principle and technical effect are similar, and will not be described again here.

[0125] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. The electronic device provided in an embodiment of this disclosure can execute a processing flow provided in an embodiment of a vehicle control method, such as... Figure 5 As shown, the electronic device 50 includes: a memory 51, a processor 52, a computer program, and a communication interface 53; wherein the computer program is stored in the memory 51 and configured to be executed by the processor 52 as described above in a vehicle control method.

[0126] In addition, this disclosure also provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement a vehicle control method as described in the above embodiments.

[0127] Furthermore, this disclosure also provides a computer program product, which includes a computer program or instructions that, when executed by a processor, implement a vehicle control method as described above.

[0128] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0129] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0130] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0131] The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to:

[0132] Receive an audio signal and determine the first sounding location of the audio signal; if, based on the first sensor signal corresponding to the first sounding location, it is determined that there is no one at the first sounding location, then based on the second sensor signal, it is determined whether there is someone at the first sounding location;

[0133] If it is determined that no one is at the first sounding location based on the visual sensor signal and / or the ranging sensor signal, then the judgment result of whether there is someone at the other seat locations around the first sounding location is determined based on the third sensor signal corresponding to the other seat locations around the first sounding location.

[0134] Based on the judgment result, the second pronunciation position of the audio signal is determined, and the user instruction contained in the audio signal is executed. The user instruction is used to control vehicle functions related to the second pronunciation position.

[0135] In addition, the electronic device can also perform other steps in a vehicle control method as described above.

[0136] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0138] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0139] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0140] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0141] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0142] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that, The method includes: Receive an audio signal and determine the first sounding location of the audio signal; if, based on the first sensor signal corresponding to the first sounding location, it is determined that there is no one at the first sounding location, then based on the second sensor signal, it is determined whether there is someone at the first sounding location; If it is determined that no one is at the first sounding location based on the visual sensor signal and / or the ranging sensor signal, then the judgment result of whether there is someone at the other seat positions around the first sounding location is determined based on the third sensor signal corresponding to the other seat positions around the first sounding location; the third sensor is a seat back angle sensor. Based on the judgment result, the second pronunciation position of the audio signal is determined, and the user instruction contained in the audio signal is executed. The user instruction is used to control vehicle functions related to the second pronunciation position.

2. The method according to claim 1, characterized in that, The method further includes: If, based on the first sensor signal corresponding to the first sounding location, it is determined that there is someone at the first sounding location, then the user instruction contained in the audio signal is executed, and the user instruction is used to control the vehicle.

3. The method according to claim 1, characterized in that, The method further includes: If it is determined, based on the visual sensor signal and / or the ranging sensor signal, that there is a person at the first sounding location, then the user instruction contained in the audio signal is executed, the user instruction being used to control the vehicle.

4. The method according to claim 1, characterized in that, Based on the judgment result, determining the second pronunciation position of the audio signal includes: If the first sounding position and the other seat positions are in the same row, and the determination result indicates that there is someone in the other seat positions, then the second sounding position of the audio signal is determined to be the other seat positions; If the other seat position is located in front of the first sound position, and the determination result indicates that there is someone in the other seat position, then the second sound position of the audio signal is determined to be the other seat position.

5. The method according to claim 1, characterized in that, Based on the judgment result, determining the second pronunciation position of the audio signal includes: If the determination result indicates that there is someone in the other seat position, then the seat position closest to the first sound position among the other seat positions is determined as the second sound position of the audio signal.

6. The method according to claim 1, characterized in that, Based on the judgment result, determining the second pronunciation position of the audio signal includes: If the other seat positions include the position in front of the first sound position and the position in the same row as the first sound position, and the judgment result indicates that there is someone in the other seat positions, then based on the third sensor signal corresponding to the position in front of the first sound position, it is determined whether the seat angle of the position in front of the first sound position is greater than a preset angle. If the seat angle at the position in front of the first sounding position is greater than the preset angle, then the second sounding position of the audio signal is determined to be the position in front of the first sounding position; If the seat angle in front of the first sounding position is less than the preset angle, then the second sounding position of the audio signal is determined to be a position in the same row as the first sounding position.

7. The method according to claim 6, characterized in that, The seat angle is the angle between the seat back and the horizontal plane.

8. The method according to claim 1, characterized in that, Based on the judgment result, determining the second pronunciation position of the audio signal includes: If the other seat positions include the position in front of the first sound position and the position behind the first sound position, or the other seat positions include the position in front of the first sound position, the position behind the first sound position, and the position in the same row as the first sound position, and the judgment result indicates that there is someone in the other seat positions, then based on the third sensor signal corresponding to the position in front of the first sound position, it is determined whether the seat angle of the position in front of the first sound position is greater than a preset angle. If the seat angle at the position in front of the first sounding position is greater than the preset angle, then the second sounding position of the audio signal is determined to be the position in front of the first sounding position; If the seat angle in front of the first sounding position is less than the preset angle, then the second sounding position of the audio signal is determined to be the first sounding position.

9. A vehicle control device, characterized in that, The device includes: The first determining module is used to receive an audio signal and determine the first sounding position of the audio signal; if it is determined that there is no one at the first sounding position based on the first sensor signal corresponding to the first sounding position, then it is determined whether there is someone at the first sounding position based on the second sensor signal. The second determining module is used to determine whether there is a person at the other seat positions around the first sounding position if the first sounding position is determined to be unoccupied based on the third sensor signals corresponding to the other seat positions around the first sounding position; the third sensor is a seat back angle sensor. An execution module is configured to determine the second pronunciation position of the audio signal based on the judgment result, and execute the user instruction contained in the audio signal, wherein the user instruction is used to control vehicle functions related to the second pronunciation position.

10. An electronic device, characterized in that, include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method as described in any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-8.

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